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uncrustify libraries/AP_Mount/AP_Mount.h

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uncrustify 2012-08-16 23:20:30 -07:00 committed by Pat Hickey
parent ff555dfb7a
commit 7ffa44c324
1 changed files with 76 additions and 74 deletions
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libraries/AP_Mount/AP_Mount.h
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@ -15,9 +15,9 @@
* Usage: Use in main code to control mounts attached to * * Usage: Use in main code to control mounts attached to *
* vehicle. * * vehicle. *
* * * *
*Comments: All angles in degrees * 100, distances in meters* **Comments: All angles in degrees * 100, distances in meters*
* unless otherwise stated. * * unless otherwise stated. *
************************************************************/ ************************************************************/
#ifndef AP_Mount_H #ifndef AP_Mount_H
#define AP_Mount_H #define AP_Mount_H
@ -32,94 +32,96 @@
class AP_Mount class AP_Mount
{ {
public: public:
//Constructor //Constructor
AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id); AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id);
//enums //enums
enum MountType{ enum MountType {
k_unknown = 0, ///< unknown type k_unknown = 0, ///< unknown type
k_pan_tilt = 1, ///< yaw-pitch k_pan_tilt = 1, ///< yaw-pitch
k_tilt_roll = 2, ///< pitch-roll k_tilt_roll = 2, ///< pitch-roll
k_pan_tilt_roll = 3, ///< yaw-pitch-roll k_pan_tilt_roll = 3, ///< yaw-pitch-roll
}; };
// MAVLink methods // MAVLink methods
void configure_msg(mavlink_message_t* msg); void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg); void control_msg(mavlink_message_t* msg);
void status_msg(mavlink_message_t* msg); void status_msg(mavlink_message_t* msg);
void set_roi_cmd(struct Location *target_loc); void set_roi_cmd(struct Location *target_loc);
void configure_cmd(); void configure_cmd();
void control_cmd(); void control_cmd();
// should be called periodically // should be called periodically
void update_mount_position(); void update_mount_position();
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
void debug_output(); ///< For testing and development. Called in the medium loop. void debug_output(); ///< For testing and development. Called in the medium loop.
// Accessors // Accessors
enum MountType get_mount_type() { return _mount_type; } enum MountType get_mount_type() {
// hook for eeprom variables return _mount_type;
static const struct AP_Param::GroupInfo var_info[]; }
// hook for eeprom variables
static const struct AP_Param::GroupInfo var_info[];
private: private:
//methods //methods
void set_mode(enum MAV_MOUNT_MODE mode); void set_mode(enum MAV_MOUNT_MODE mode);
void set_retract_angles(float roll, float tilt, float pan); ///< set mount retracted position void set_retract_angles(float roll, float tilt, float pan); ///< set mount retracted position
void set_neutral_angles(float roll, float tilt, float pan); void set_neutral_angles(float roll, float tilt, float pan);
void set_control_angles(float roll, float tilt, float pan); void set_control_angles(float roll, float tilt, float pan);
void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
// internal methods // internal methods
void calc_GPS_target_angle(struct Location *target); void calc_GPS_target_angle(struct Location *target);
void stabilize(); void stabilize();
int16_t closest_limit(int16_t angle, int16_t* angle_min, int16_t* angle_max); int16_t closest_limit(int16_t angle, int16_t* angle_min, int16_t* angle_max);
void move_servo(RC_Channel* rc, int16_t angle, int16_t angle_min, int16_t angle_max); void move_servo(RC_Channel* rc, int16_t angle, int16_t angle_min, int16_t angle_max);
int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max); int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max); float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
//members //members
AP_AHRS *_ahrs; ///< Rotation matrix from earth to plane. AP_AHRS * _ahrs; ///< Rotation matrix from earth to plane.
GPS *&_gps; GPS *& _gps;
const struct Location *_current_loc; const struct Location * _current_loc;
struct Location _target_GPS_location; struct Location _target_GPS_location;
MountType _mount_type; MountType _mount_type;
uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index
uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index
uint8_t _pan_idx ; ///< RC_Channel_aux mount pan function index uint8_t _pan_idx; ///< RC_Channel_aux mount pan function index
uint8_t _open_idx; ///< RC_Channel_aux mount open function index uint8_t _open_idx; ///< RC_Channel_aux mount open function index
float _roll_control_angle; ///< radians float _roll_control_angle; ///< radians
float _tilt_control_angle; ///< radians float _tilt_control_angle; ///< radians
float _pan_control_angle; ///< radians float _pan_control_angle; ///< radians
float _roll_angle; ///< degrees float _roll_angle; ///< degrees
float _tilt_angle; ///< degrees float _tilt_angle; ///< degrees
float _pan_angle; ///< degrees float _pan_angle; ///< degrees
// EEPROM parameters // EEPROM parameters
AP_Int8 _stab_roll; ///< (1 = yes, 0 = no) AP_Int8 _stab_roll; ///< (1 = yes, 0 = no)
AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no) AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no)
AP_Int8 _stab_pan; ///< (1 = yes, 0 = no) AP_Int8 _stab_pan; ///< (1 = yes, 0 = no)
AP_Int8 _mount_mode; AP_Int8 _mount_mode;
// RC_Channel for providing direct angular input from pilot // RC_Channel for providing direct angular input from pilot
AP_Int8 _roll_rc_in; AP_Int8 _roll_rc_in;
AP_Int8 _tilt_rc_in; AP_Int8 _tilt_rc_in;
AP_Int8 _pan_rc_in; AP_Int8 _pan_rc_in;
AP_Int16 _roll_angle_min; ///< min angle limit of actuated surface in 0.01 degree units AP_Int16 _roll_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int8 _joystick_speed; AP_Int8 _joystick_speed;
AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Vector3f _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = tilt, vector.z=pan
}; };
#endif #endif